The system auto mode cannot be activated

[hzkkk1997]

When I run planning_simulator.launch.xml, I encounter the problem that the auto mode in statepanel cannot be activated. May I ask how to troubleshoot it? Do I have to parse /diagnostics topic myself to see what the fault is?

I printed these two topics and the results are as follows.

[lhakim85]

@hzkkk1997,
Can you check if the map loaded correctly or not

[hzkkk1997]

Thanks for your reply, the map should be OK, because the map lane lines can be seen in rviz and the planned driving trajectory is also output normally. @lhakim85

[villaoningfootball]

please try to this：ros2 service call /api/operation_mode/change_to_autonomous autoware_adapi_v1_msgs/srv/ChangeOperationMode {}

[hzkkk1997]

@villaoningfootball Thanks for your reply, I tried the instructions you mentioned but it still didn't work and reported the following problem.
`waiting for service to become available...
requester: making request: autoware_adapi_v1_msgs.srv.ChangeOperationMode_Request()

response:
autoware_adapi_v1_msgs.srv.ChangeOperationMode_Response(status=autoware_adapi_v1_msgs.msg.ResponseStatus(success=False, code=1, message='The target mode is not available. Please check the diagnostics.'))
`

[maxime-clem]

You can try this RQT plugin to see the diagnostic statuses: https://github.com/autowarefoundation/autoware_tools/tree/main/system/rqt_diagnostic_graph_monitor
Otherwise I suspect the log contains some useful messages. Please check it or share it if possible.

[hzkkk1997]

As you said, does this mean that the system component has diagnosed a duplicate node in the ros2 workspace, so there is a fault and the autopilot mode cannot be activated?

[maxime-clem]

Yes. If you search in the logs/console, you should see error messages about the duplicated nodes. These messages should clearly indicate which node is duplicated.

[hzkkk1997]

Thank you, but I don't quite understand what logs/console is. Do I need to open rqt_console?

[maxime-clem]

When running Autoware the nodes are writing logs to /rosout. You can use rqt_console to easily find the messages from the node duplicate checker, or you can look at the log files in $HOME/.ros/log/... or simply look at the console output when Autoware is running.

[hzkkk1997]

@maxime-clem Thank you very much, I'm at $HOME/.ros/log/... The duplicated_node_checker_node log was found in the directory, but there was no valuable content in it.

I found the duplicate node through the ros2 node list. Now the problem is solved.